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javyduck / ChatScene

[CVPR2024] ChatScene: Knowledge-Enabled Safety-Critical Scenario Generation for Autonomous Vehicles https://arxiv.org/abs/2405.14062
https://javyduck.github.io/chatscene/
MIT License
83 stars 4 forks source link

This is an impressive job #8

Open lilejin322 opened 2 months ago

lilejin322 commented 2 months ago

Really impressive job, but, is there any possibility to plug in a full-stack ADS like Baidu Apollo https://github.com/ApolloAuto/apollo in this framework to substitute the RL-based agent in the paper?

javyduck commented 2 months ago

Sure, it is possible, you only need to overwrite this line: https://github.com/javyduck/ChatScene/blob/d59628b059e1a1d3ef95a85ece035789067e2334/safebench/gym_carla/envs/carla_env.py#L330 and convert the corresponding control signals from apollo back.